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Rapid compass alignment method for underwater vehicle before launching on mobile carrying platform

A technology for underwater vehicles and carrying platforms, which is applied in the directions of instruments, compasses, surveying and navigation, etc. It can solve the problems that it is difficult to apply the rapid initial alignment of underwater vehicles, and achieve the effect of shortening the alignment time

Active Publication Date: 2021-06-18
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Platform compass alignment is difficult to apply to rapid initial alignment of underwater vehicles on mobile carrier platforms

Method used

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  • Rapid compass alignment method for underwater vehicle before launching on mobile carrying platform
  • Rapid compass alignment method for underwater vehicle before launching on mobile carrying platform
  • Rapid compass alignment method for underwater vehicle before launching on mobile carrying platform

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specific Embodiment

[0108] The underwater vehicle is ready to launch on the mobile carrier platform, and the rapid alignment algorithm is used for initial alignment before launch. The platform is located at 34.25° north latitude and 108.91° east longitude. The carrier platform is released to the north at a speed of 20m / s, and the reference speed error of the platform is 1m / s. The alignment time is 320 seconds, namely t s =0,t e =360, algorithm update time T s = 0.005s. The three-axis gyro zero drift of the underwater vehicle strapdown inertial navigation is 0.02° / h, and the three-axis accelerometer zero bias is 100μg.

[0109] Step 1: The carrier platform binds a rough attitude array to the underwater vehicle to be launched and initial velocity v n (t s0 ). at this time There is a large error, and the misalignment angle is , the initial velocity is v n (t s0 )=[0 210] T .

[0110] Step 2: Switch the INS from t s from time to time until the end of alignment t e Gyroscope and acc...

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Abstract

The invention relates to a rapid compass alignment method for an underwater vehicle before launching on a mobile carrier platform, which is suitable for the rapid alignment method for a strapdown inertial navigation system of the underwater vehicle before launching on the mobile carrier platform. According to the method, a reverse compass alignment control loop is provided, inertial navigation data are stored, forward compass alignment and reverse compass alignment are combined, and forward compass alignment and reverse compass alignment are carried out repeatedly and alternately until the difference between two times of alignment is within a given allowable range. According to the algorithm, repeated alignment is performed by using the stored data, so that the compass alignment time is effectively shortened and the launching preparation time of the underwater vehicle is shortened on the premise of the same alignment precision.

Description

technical field [0001] The invention belongs to an underwater vehicle compass alignment method, and relates to a fast compass alignment method for an underwater vehicle before a mobile carrier platform is launched, so as to shorten the initial alignment time and improve the initial alignment accuracy. Background technique [0002] The inertial navigation system has the advantages of being free from external signal interference and strong autonomy, and is an important part of underwater vehicles such as underwater vehicles. In an underwater environment where GPS / Beidou signals cannot be received and the geomagnetism is susceptible to interference, the advantages of inertial navigation's strong autonomy are particularly effective in positioning underwater vehicles. On underwater vehicles moving at low speed, the strapdown inertial navigation system often performs information fusion with the Doppler velocity meter and depth gauge to form a strapdown inertial navigation / Doppler ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C17/38G01C25/00
CPCG01C17/38G01C25/005
Inventor 张福斌潘光宋保维高剑张立川彭星光
Owner NORTHWESTERN POLYTECHNICAL UNIV
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